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Agemaniac

Quaternions Rotation

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ok..i''m using rotation matrix to represent rotation im my engine..im changing it to quaternions....in some cases i need to use a matrix ...so I convert the quarternions into a matrix using QuaternionToMatrix..so i aply the changes in the matrix...ok..here is my question ..Is there a way to convert matrix to Quaternions? ps: i''m need this transformation to use in the Integrate function of my physics

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http://skal.planet-d.net/demo/matrixfaq.htm#Q48
http://www.martinb.com/maths/algebra/realNormedAlgebra/quaternions/

and of course google with "Is there a way to convert matrix to Quaternions"

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